[curve_abc] Remove Dim from template

include/curves/bezier_curve.h

@@ -30,7 +30,7 @@ namespace curves
 ///
 template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false
 , typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
-struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
+struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point>
 {
     typedef Point   point_t;
     typedef Time    time_t;

include/curves/cubic_hermite_spline.h

@@ -32,7 +32,7 @@ template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool S
 , typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>
 , typename Tangent= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>
 >
-struct cubic_hermite_spline : public curve_abc<Time, Numeric, Dim, Safe, Point>
+struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>
 {
     typedef std::pair<Point, Tangent> pair_point_tangent_t; 
     typedef std::vector< pair_point_tangent_t ,Eigen::aligned_allocator<Point> > t_pair_point_tangent_t;

include/curves/curve_abc.h

@@ -21,7 +21,7 @@ namespace curves
 /// \struct curve_abc.
 /// \brief Represents a curve of dimension Dim.
 /// If value of parameter Safe is false, no verification is made on the evaluation of the curve.
-template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false
+template<typename Time= double, typename Numeric=Time, bool Safe=false
 , typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
 struct  curve_abc : std::unary_function<Time, Point>
 {

include/curves/exact_cubic.h

@@ -39,7 +39,7 @@ namespace curves
 template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false
 , typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename T_Point =std::vector<Point,Eigen::aligned_allocator<Point> >
 , typename SplineBase=polynomial<Time, Numeric, Dim, Safe, Point, T_Point> >
-struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
+struct exact_cubic : public curve_abc<Time, Numeric, Safe, Point>
 {
     typedef Point   point_t;
     typedef T_Point t_point_t;
@@ -51,7 +51,7 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
     typedef typename std::vector<spline_t> t_spline_t;
     typedef typename t_spline_t::iterator it_spline_t;
     typedef typename t_spline_t::const_iterator cit_spline_t;
-    typedef curve_abc<Time, Numeric, Dim, Safe, Point> curve_abc_t;
+    typedef curve_abc<Time, Numeric, Safe, Point> curve_abc_t;
     typedef curve_constraints<point_t> spline_constraints;
 
     /* Constructors - destructors */

include/curves/helpers/effector_spline_rotation.h

@@ -33,7 +33,7 @@ typedef Eigen::Matrix<Numeric, 4, 1> quat_t;
 typedef Eigen::Ref<quat_t> quat_ref_t;
 typedef const Eigen::Ref<const quat_t> quat_ref_const_t;
 typedef Eigen::Matrix<Numeric, 7, 1> config_t;
-typedef curve_abc<Time, Numeric, 4, false, quat_t> curve_abc_quat_t;
+typedef curve_abc<Time, Numeric, false, quat_t> curve_abc_quat_t;
 typedef std::pair<Numeric, quat_t > waypoint_quat_t;
 typedef std::vector<waypoint_quat_t> t_waypoint_quat_t;
 typedef Eigen::Matrix<Numeric, 1, 1> point_one_dim_t;

include/curves/piecewise_curve.h

@@ -27,9 +27,9 @@ namespace curves
 template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
      typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, 
      typename T_Point= std::vector<Point,Eigen::aligned_allocator<Point> >,
-     typename Curve= curve_abc<Time, Numeric, Dim, Safe, Point>
+     typename Curve= curve_abc<Time, Numeric, Safe, Point>
      >
-struct piecewise_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
+struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point>
 {
     typedef Point   point_t;
     typedef T_Point t_point_t;

include/curves/polynomial.h

@@ -33,13 +33,13 @@ namespace curves
 ///
 template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
          typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename T_Point =std::vector<Point,Eigen::aligned_allocator<Point> > >
-struct polynomial : public curve_abc<Time, Numeric, Dim, Safe, Point>
+struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
 {
     typedef Point 	point_t;
     typedef T_Point t_point_t;
     typedef Time 	time_t;
     typedef Numeric	num_t;
-    typedef curve_abc<Time, Numeric, Dim, Safe, Point> curve_abc_t;
+    typedef curve_abc<Time, Numeric, Safe, Point> curve_abc_t;
     typedef Eigen::Matrix<double, Dim, Eigen::Dynamic> coeff_t;
     typedef Eigen::Ref<coeff_t> coeff_t_ref;